CN103480530B - Optimize the spray plume position feedback of the robot motion of coating - Google Patents
Optimize the spray plume position feedback of the robot motion of coating Download PDFInfo
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- CN103480530B CN103480530B CN201310231795.2A CN201310231795A CN103480530B CN 103480530 B CN103480530 B CN 103480530B CN 201310231795 A CN201310231795 A CN 201310231795A CN 103480530 B CN103480530 B CN 103480530B
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- spraying gun
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- 239000011248 coating agent Substances 0.000 title description 20
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- 239000000463 material Substances 0.000 claims abstract description 154
- 238000002347 injection Methods 0.000 claims abstract description 99
- 239000007924 injection Substances 0.000 claims abstract description 99
- 238000007751 thermal spraying Methods 0.000 claims abstract description 61
- 238000000034 method Methods 0.000 claims description 58
- 238000005422 blasting Methods 0.000 claims description 7
- 238000003745 diagnosis Methods 0.000 claims description 5
- 230000003760 hair shine Effects 0.000 claims 1
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- 238000000151 deposition Methods 0.000 description 23
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/082—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to a condition of the discharged jet or spray, e.g. to jet shape, spray pattern or droplet size
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
- B05B13/0431—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
-
- C—CHEMISTRY; METALLURGY
- C23—COATING METALLIC MATERIAL; COATING MATERIAL WITH METALLIC MATERIAL; CHEMICAL SURFACE TREATMENT; DIFFUSION TREATMENT OF METALLIC MATERIAL; COATING BY VACUUM EVAPORATION, BY SPUTTERING, BY ION IMPLANTATION OR BY CHEMICAL VAPOUR DEPOSITION, IN GENERAL; INHIBITING CORROSION OF METALLIC MATERIAL OR INCRUSTATION IN GENERAL
- C23C—COATING METALLIC MATERIAL; COATING MATERIAL WITH METALLIC MATERIAL; SURFACE TREATMENT OF METALLIC MATERIAL BY DIFFUSION INTO THE SURFACE, BY CHEMICAL CONVERSION OR SUBSTITUTION; COATING BY VACUUM EVAPORATION, BY SPUTTERING, BY ION IMPLANTATION OR BY CHEMICAL VAPOUR DEPOSITION, IN GENERAL
- C23C4/00—Coating by spraying the coating material in the molten state, e.g. by flame, plasma or electric discharge
- C23C4/12—Coating by spraying the coating material in the molten state, e.g. by flame, plasma or electric discharge characterised by the method of spraying
- C23C4/129—Flame spraying
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B7/00—Spraying apparatus for discharge of liquids or other fluent materials from two or more sources, e.g. of liquid and air, of powder and gas
- B05B7/16—Spraying apparatus for discharge of liquids or other fluent materials from two or more sources, e.g. of liquid and air, of powder and gas incorporating means for heating or cooling the material to be sprayed
- B05B7/20—Spraying apparatus for discharge of liquids or other fluent materials from two or more sources, e.g. of liquid and air, of powder and gas incorporating means for heating or cooling the material to be sprayed by flame or combustion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D1/00—Processes for applying liquids or other fluent materials
- B05D1/02—Processes for applying liquids or other fluent materials performed by spraying
- B05D1/08—Flame spraying
Abstract
The thermal spray system of the present invention may include：Thermal spraying gun is configured to generate material injection；At least one photographic means is configured to capture the image for the material injection sprayed by thermal spraying gun；Diagnostic device is being communicatively coupled at least one photographic means；And controller, it is being communicatively coupled to diagnostic device.Photographic means can be configured to the image sprayed to diagnostic device transferable material, and diagnostic device can be configured to determine the characteristic of material injection based on image.Diagnostic device can control the position of thermal spraying gun to controller transmission characteristic, controller based on characteristic.
Description
Technical field
This disclosure relates to apply, and it particularly relates to for applying a layer to production using the combination for applying technology
The method and system of product.
Background technology
It can be referred to as gas turbine again（combustion turbine）Gas-turbine（gas turbine）It is that gas is made to accelerate
Internal combustion engine（internal combustion engine）, gas is forced into the combustion chamber for increasing heat to improve gas
The volume of body.Then by expanding gas direct turbine（turbine）, to extract the energy that expanding gas is generated.Turbine
There are many practical applications for equipment, including are used as jet engine and are used for industrial generation system.
The acceleration of gas in gas-turbine and guiding are usually completed using rotating vane.The extraction of energy usually passes through handle
Expanding gas from combustion chamber is imposed to blade of gas turbine, and blade of gas turbine is left by expanding gas via turbine blade
The power of gas-turbine spins.Since the high temperature of gas is discharged, blade of gas turbine must be configured to be resistant to extreme operating condition.Although
Blade of gas turbine is usually made of metal, but more advanced material is currently used for this kind of blade, such as ceramics and ceramic base
Composite material.Ceramic matric composite is additionally operable to constitute the other components and product that can suffer from extreme environmental conditions.
When composition can be subjected to using this kind of advanced material or simple metal in the article of extreme environmental conditions, can apply
Coating increases the heat resistance and durability of this kind of article to provide the increase protection to article.This type coating usually uses
Plasma spray technology applies.In thermal spraying, by the material of liquid form (usually by melting powder or solid before application
To be made) it sprays on the surface of article.Thermal spray process is usually by being designed to provide coating consistent and what is controllably applied is
System is automatic to be executed.
Over time, the component of this kind of system can degenerate, and lose alignment, or cannot be satisfied in other aspects its by with
The requirement set.When if dry systems are mounted on various places, installation method of the similar thermal spraying apparatus because of each individually place
And/or condition variation and material may be applied according to variable manner, and therefore the application of material may not be it is consistent,
And in some places although specification may also be exceeded by being expected design.Although in addition, the one or more for alignment
Component can be at correctly alignment and position, but generated spraying may not apply material in expected position.For example,
Thermal spraying gun can be correctly aligned so that the center line of spray gun and specific point alignment, but due to the internal component of such as spray gun
Etc miscellaneous equipment variation, generated spraying may not be aligned with the center line of spray gun, although and therefore spray gun
It is aligned in appearance, material may also not be applied to correct region.
When coating is specified or it is expected desired component or process come when applying using cannot be satisfied it, it may be required that applied
The manual reprocessing of application product, or article may be come into operation and normally be applied without detecting that it is not thermal sprayed system
It applies.This problem especially severe when applying three-dimensional article, because of spray plume（spray plume）Be properly positioned for
It is especially important that all areas of this article, which provide correct coating,.With complex geometry and surface variations feature (example
Such as internal diameter, fillet, edge) such as gas-turbine airfoil etc the control thermal spraying positioning of article requirements height so that
Meet the specific coating needs in each region of article.It is incorrect to apply for turbine assembly and general any thermal spraying article
The coating added can cause higher costs, longer production time and the more short life of coated article.
Invention content
Thermal spray system may include：Thermal spraying gun is configured to generate material injection；At least one photographic means, is configured to
The image for the material injection that capture is sprayed by thermal spraying gun；Diagnostic device is being communicatively coupled at least one photographic means；
And controller, it is being communicatively coupled to diagnostic device.Photographic means can be configured to the figure sprayed to diagnostic device transferable material
Picture, diagnostic device can be configured to determine the characteristic of material injection based on image.Diagnostic device can be controlled to controller transmission characteristic
Device processed can control the position of thermal spraying gun based on characteristic.
It discloses a kind of for by the following method to operate thermal spray system：Material to surface is generated using thermal spraying
Material injection；The image of capture material injection；The characteristic of material injection is determined based on image；And thermal jet is adjusted based on characteristic
Apply the position of rifle.
It discloses a kind of for by the following method to operate thermal spray system：Material to surface is generated using thermal spraying
Material injection；The image of capture material injection；And based on image come determine material injection central point.It can determine the correct of injection
Central point, and thermal spraying gun can be adjusted based on the central point of injection so that the central point of material injection and deposition it is correct
Center point alignment.
According to first embodiment of the present disclosure, a kind of thermal spray system is provided, including：
Thermal spraying gun is configured to generate material injection；
At least one photographic means is configured to capture the image of the material injection carried out by the thermal spraying gun；
Diagnostic device is being communicatively coupled at least one photographic means；And
Controller is being communicatively coupled to the diagnostic device,
Wherein described at least one photographic means is configured to transmit described image to diagnostic device,
The diagnostic device is configured to determine the characteristic of the material injection based on described image, and is passed to controller
The characteristic is sent, and
The controller is configured to control the position of the thermal spraying gun based on the characteristic.
According to the thermal spray system described in first embodiment, wherein the characteristic of the material injection includes the material spray
In the shape of the width of the central point, material injection penetrated, the size of material injection or material injection extremely
It is one few.
According to the thermal spray system described in first embodiment, wherein be configured to determine the institute of the characteristic of the material injection
It includes being configured to determine the diagnostic device with the coordinate of the association of characteristics to state diagnostic device.
According to the thermal spray system described in first embodiment, wherein at least one photographic means includes being configured to catch
It obtains the first photographic means of the first image of the material injection and is configured to capture the second image of the material injection
Second photographic means.
According to the thermal spray system described in first embodiment, wherein be configured to control the institute of the position of the thermal spraying gun
It includes the controller for being configured to adjust the travel path of the thermal spraying gun based on the characteristic to state controller.
According to the thermal spray system described in first embodiment, wherein the image of the material injection includes the figure of reference point
Picture.
According to the thermal spray system described in first embodiment, wherein the reference point be laser beam or fiducial mark wherein
One of.
According to second embodiment of the present disclosure, a kind of method of operation thermal spray system is provided, including：
Material injection to surface is generated using thermal spraying gun；
Capture the image of the material injection；
The characteristic of the material injection is determined based on described image；And
The position of the thermal spraying gun is adjusted based on the characteristic.
According to the method described in second embodiment, wherein described image is captured by least one row scanography device.
According to the method described in second embodiment, wherein the characteristic of the material injection includes in the material injection
Heart point, the width of material injection, the size of material injection or at least one of the shape of material injection.
According to the method described in second embodiment, wherein determine that the characteristic of the material injection includes determining and the spy
The associated coordinate of property.
According to the method described in second embodiment, wherein the characteristic is the central point of the blasting materials, and is based on
The characteristic includes adjusting the hot spot spray gun come the position for adjusting the thermal spraying gun so that the center of the material injection
Point is changed to the predetermined center point of the injection.
Further include being emitted to laser beam is as a reference point on the surface according to the method described in second embodiment.
According to the method described in second embodiment, wherein the image of the material injection includes the image of the laser beam.
According to third embodiment of the present disclosure, a kind of method of operation thermal spray system is provided, including：
Material injection to surface is generated using thermal spraying gun；
Capture the image of the material injection；
The central point of the material injection is determined based on described image；
Determine the correct central point of injection；And
Adjust the thermal spraying gun based on the central point of material injection so that the central point of the material injection with
The correct center point alignment of injection.
Further include that the material is ejected by article using the thermal spraying gun according to the method described in 3rd embodiment
On.
Further include the coordinate system on the determining surface according to the method described in 3rd embodiment.
According to the method described in 3rd embodiment, wherein determine that the central point of the material injection includes determining the seat
The central point of material injection in mark system.
According to the method described in 3rd embodiment, wherein capturing the image that the material sprays includes：
The material injection is captured using being configured to scan the first photographic means of the material injection along first direction
The first image；And
The material is captured using being configured to scan the second row scanography device of the material injection in a second direction
Expect the second image of injection,
The wherein described first direction is perpendicular to the second direction.
Further include the travel path for adjusting the thermal spraying gun according to the method described in 3rd embodiment.
It is read, is best understood from outlined above and described in detail below in conjunction with the accompanying drawings.For convenience of description
Claimed theme shows the example for illustrating each embodiment in attached drawing；But the invention is not limited in disclosed spies
Determine system and method.
Description of the drawings
It reads by referring to accompanying drawing described in detail below, it will be best understood from these and other feature, the side of the present invention
Face and advantage, wherein：
The block diagram of the non-limiting demonstration thermal spray systems of Fig. 1；
Fig. 2 is the non-limiting example of blasting materials and its characteristic；
Fig. 3 is the non-restrictive illustrative method realized according to one embodiment of the disclosure；
Fig. 4 is the demonstration frame for the general-purpose computing system for indicating the aspect in combination with methods and systems disclosed herein
Figure.
Specific implementation mode
In one embodiment, thermal spraying can be used in the coating of such as one or more layers environment shielding coating (EBC) etc
System is applied to product.Product can be any product, including but not limited to blade of gas turbine, and the product can be by any
Material is constituted, including but not limited to ceramic matric composite (CMC) and Ni/Fe/Co based alloys.Although can be in order to demonstrate
And the disclosure is described according to EBC applications and its various aspects, but the disclosure is not limited to EBC, but apply also for
Any coating that can be applied by thermal spraying, without limitation such as thermal shield coating, abrasion and corrosion protection coating.
In one embodiment, process monitoring equipment can be integrated in thermal spray system, so that recognizable and characterization spray
Mist plume position.Spray plume position data can be fed back in robotic application motion controller, so as to by plume with it is to be applied
Article is aligned.Fig. 1 shows the non-restrictive illustrative thermal spray system 100 that may include process monitoring equipment.Note that system 100 is
It only shows to help to illustrate the component of embodiment described herein and the simplification system of subsystem.Other components, device and subsystem
It may include in any system for realizing either one or two of embodiment described herein, and all such systems are all considered in this
Within scope of disclosure.
Article 101 can be article that is to be applied or being applied by system 100.Note that in analysis thermal spray plume, heat
The injection of spray gun and/or it is any produced by deposition or operate the disclosed herein of thermal spray system according to one embodiment
In either one or two of embodiment, this kind of embodiment can be the case where being configured to the article of coating application in or without system
Under realize and use.In Fig. 1, article 101 is shown, how can match glove in such as system of system 101 etc to demonstrate
Product.
System 100 may be configured with thermal spraying gun 110, and thermal spraying gun 110 can heat and/or melt to be painted be coated onto such as
The thermal spray system component of material on the article of article 101 etc.Thermal spraying gun 110 and any thermal jet mentioned in this article
Rifle is applied to may include that this spray gun material is mobile, positioning and/or deposition or the given zone for being ejected into article surface can be helped
Component on domain or the specific region of thermal spray system.The movement of thermal spraying gun 110 and position can be by controllers 113 with machine
People's mode or other means controls.Controller 113 can be the movement and position that can control spray gun 110 any device,
System, component or any combination of them.In one embodiment, controller 113 may be configured with one or more computers
Processor, memory device, data storage device and input/output device.
The plume 111 of 110 sprayable material of thermal spraying gun, this can be the injection of any kind of material.Plume 111 can
With plume center 112.Plume center 112 can be the bosom point of the material sprayed by thermal spraying gun 110, and therefore
It can indicate the central point of the deposition applied by thermal spraying gun 110.For example, referring now to Fig. 2, spraying or applying material 200
Plume 111 that plume, such as spray gun 110 that can be sprayed by lance ejection or via spray gun are sprayed deposits to article table
Face, and center 210 can be the center of sprayed plume or by the center of sprayed plume, such as 112 institute of plume center
The center of the material of application.
Referring again to Fig. 1, system 100 may include process monitoring equipment, which can be used for characterizing thermal spray
The produced deposition of plume and/or material, so as to the component of correctly alignment 100.This equipment may include photographic means,
Such as photographic means 121 and 123.Photographic means 121 and 123 can be any kind of photographic means, including row scanography
Device.Photographic means 121 can be configured to scan or obtain one or more of region 122 image in other ways, and shine
Phase device 123 can be configured to scan or obtain in other ways one or more of region 124 image.For example, such as Fig. 1 institutes
Show, photographic means 121 can be configured to vertical (such as along vertical axis 130) scanning deposition region and be sprayed with capturing from spray gun 110
Material and/or the material deposited by spray gun 110 image, and photographic means 123 can be configured to it is horizontal (such as along trunnion axis
140) scanning deposition region is to capture the image of the material sprayed from spray gun 110 and/or the material deposited by spray gun 110.
In this way, the complete image of deposition region and any deposition therein can be obtained.Region 122 and 124 can overlap or be overlapped, and
It is identical in space but from the region that two vertical angles (such as horizontal and vertical) are watched.
Note that each of photographic means 121 and 123 may be configured with the filter of the operation for the photographic means for participating in thermal spray system
Light device or other components.For example, photographic means 121 and 123 may be provided with Infrared filter, to reduce or filter out infrared waves
It is long.This can improve the performance in thermal spraying environment, because thermal spray process can relate to make in the case of no this kind of optical filter
The more difficult high temperature of image capture.Additionally or alternatively, any other optical filter or component can match with this kind of photographic means
It closes and uses, and this kind of photographic means can be without configuration optical filter or add-on assemble.All such embodiments are all considered to be in
Within the scope of the present disclosure.
In photographic means 121 and 123 pairs its be configured in the region being scanned can be sprayed by spray gun 110 and
Via the saltation point for the material that plume 111 is deposited.By the obtained institute's scan image of photographic means 121 and 123 can transmit to
Diagnostic device 125.Diagnostic device 125 can handle and/or analyze these images, to characterize injection and/or the deposition of material.Example
Such as, diagnostic device 125 can determine material injection (when it is sprayed from spray gun 110) or material deposition (when it is by spray gun 110
When depositing to surface) size, position, center, shape and any other characteristic.Any method, component or algorithm can be used in this
It carries out.For example, diagnostic device 125 can determine the most close quarters of material in vertical direction in the material injection that spray gun 110 carries out
Or the most thick and heavy deposition (figure obtained represented by arc 131 and from row scanography device 121 of vertical direction lastrow
As determining), and can determine the most close quarters or horizontal one of horizontal material in the material injection of the progress of spray gun 110
Row most resedimentation (image obtained represented by arc 141 and from row scanography device 123 is determined).Diagnostic device
125 can determine that the crosspoint of these regions or row is plume center 112, that is, when material is sprayed by spray gun 110 and plume 122
When injection or deposition central point.
The desired characteristic that determines plume 111 and/or association injection or produced deposition, for example plume center 112 and/
Or the deposition when material is sprayed by spray gun 110 central point when, the coordinate of this characteristic or relevant with determined characteristic
Other data can send controller 113 to by diagnostic device 125.Controller 113 may be used these coordinates and/or be filled from diagnosis
Any other data that 125 are received are set to adjust position and the movement of spray gun 110.For example, controller 113, which can be used, receives table
Show such as coating motor program of the variable of the coordinate of current institute's test position of the central point of the deposition applied by spray gun 110
Etc algorithm operated.In one embodiment, algorithm can be realized by running on the software of processor.Such as diagnose dress
This algorithm can be inputted by setting the coordinate for this central point that 125 determine and transmit, and algorithm can be used for determining and realize
The position of spray gun 110 and any adjustment needed for movement.This algorithm, which also can be used, carrys out the data of self-diagnosis system to determine spray
Rifle pair can along the pass, this class.path that the specific travel path of wherein blasting materials should execute width and/or spacing and/or
Any other parameter of the algorithm or computer executable program of automatic spraying process or the automatic spraying process of control.
Referring again to Fig. 2, spraying or applying material 200 can be divided by the diagnostic device of such as diagnostic device 125 etc
Analysis.Note that it can be actual ejection material either actually applied material or such as one or more to spray or apply material 200
What photographic means was detected spray or apply material and/or results from one or more of such as photographic means 121 and 123 etc
The expression of the processing for the image that a photographic means is detected.Diagnostic device, which can be analyzed, sprays or applies material 200, to determine
Spray or apply the injection of material 200 or the characteristic of deposition.This class feature can be according to coordinate and can be relative to coordinate system 220
Other data for being presented are presented.Coordinate system 220 can be the coordinate system for positioning and moving thermal spraying gun.Coordinate system
220 can physically be configured in thermal spray system, or can be used by the device and component internal of thermal spray system
Virtual coordinate system.In one embodiment, one or more lasers can be by beam emissions to the area for capturing diagnostic image
In domain, and can provide can be by diagnostic system from the point for wherein determining coordinate system 220 for the position of this kind of beam.In another implementation
In example, the fiducial mark of any other type can by injection, apply or be otherwise present in system, and for carrying
For the reference point for determining coordinate system 220.As an alternative or supplement, any data for being generated by diagnostic system, for example in
Heart point coordinates can be relative to the institute's detection laser beam or fiducial mark in thermal spray system.All such embodiments are all considered to locate
Within the scope of the present disclosure.
In one embodiment, diagnostic device can determine the center for spraying or applying material 200 on coordinate system 220
210 coordinate.These coordinates can pass to the robot controller of spray gun or pass to movement and the position of control thermal spraying gun
Any other device, component or the combination thereof set.Controller then can be by the coordinate at center 210 and material injection/deposition
The correct position at center be compared, and correspondingly adjust the position of spray gun.For example, correct center 221 can be via
The correct central point of material that thermal spraying gun plume sprays or applies.Controller can adjust the position of spray gun so that in material
Application next time when, center 210 is aligned with correct center 210.One or more laser beams for determine coordinate system or
Person determines in one embodiment of the coordinate of deposition characteristics, and controller may further determine that the position of beam, and with performance data knot
It closes and executes adjustment using that position data.Note that diagnostic device can perform the determination of the precision of thermal spraying gun plume, and
Adjustment needed for being transmitted to controller.Alternatively, it in all such function combinables to single device or component, or can be distributed
Between device and/or component, to obtain the identical result of alignment spray gun.All such embodiments are all considered to be in this public affairs
Within the scope of opening.
Spraying or apply other characteristics of material 200 can be determined and for adjusting spray gun.For example, it may be determined that being sprayed
Spray width can be adjusted to meet specified width as needed by penetrating or apply the width 211 of material 200 and controller.Class
As, spraying or apply the shape, size and/or any other characteristic of material 200 can be determined and used to determine thermal jet
The adjustment of painting system.It is furthermore noted that the data generated by diagnostic device can be used to adjust for any parameter of automatic spraying process
It is whole.For example, the data for carrying out self-diagnosis system can be used for determining that spray gun pair can should along the specific travel path of wherein blasting materials
Any other parameter of the pass of execution, the width of this class.path and/or automatic spraying process.All such embodiments are recognized
To be within the scope of the present disclosure.
Fig. 3 shows to realize the non-restrictive illustrative method 300 according to one embodiment of the disclosure.In frame 310, in order into
Row diagnosis, can initiate spraying process, and can apply material.Applied material can be applied to diagnosis surface, such as thermal spraying system
In the system or neighbouring region for being intended for diagnostic materials deposition, so that deposit, which is not applied to, is contemplated to be thermal spray process
The article of end article.Alternatively, applied material can be applied directly to the article that will finally be applied by material.
In frame 320, one or more images of the material applied to be diagnosed can be captured.As described herein, this
Class image can be captured by configuring one or more photographic means in thermal spray system.In one embodiment, it is captured
Image can be the particles of material instant when material is sprayed from thermal spraying gun.Alternatively, image can be deposited by material
The image of deposit is formed by to diagnosis surface or article.In frame 330, this kind of image can be analyzed, and can characterize and be applied
The material for adding or spraying.As described herein, it is this analyze can determine material injection/deposition central point and/or material injection or
Size, the shape and/or position of deposition.This characterize data can take indicate thermal spray system device and/or component it
Between the form of common coordinate frame that uses provide.In some embodiments, characterize data may also include will by controller into
Capable adjustment, and in other embodiments, characterize data may include and apply or the related number of the current properties of blasting materials
According to allow controller to determine necessary adjustment.In some embodiments, in frame 330, coordinate system or reference point be may further determine that
Determination, in order to determine characterize data.For example, the image provided by photographic means can also capture laser beam or can be used as
It is sprayed for determination and/or other benchmark of the reference point of the coordinate system of the characteristic of applied material and/or relative position accords with
Number.All such embodiments are all considered within the scope of the present disclosure.
It is provided to the movement of control thermal spraying gun and/or the controller of position in the result of frame 340, this analysis.Such as
Upper described, controller can determine that either necessary adjustment can be supplied to controller to necessary adjustment with data or replacement data.
Frame 350 can carry out any adjustment to any component of thermal spray system.This may include adjust spray gun position, will be by spraying
Spraying pattern that rifle follows, spray gun pair can be along passes that any special exercise path of wherein blasting materials should execute, this kind of
The width and/or spacing in path and/or any other parameter of automatic spraying process.Any component, device, hardware, software with
And any combination of them any adjustment can be used for example frame 330 execute etc analysis result carry out, recognized
To be within the scope of the present disclosure.
In frame 360, the thermal spray process for applying article can start after the adjustment of component, to ensure exist just
Really alignment.After the coating of single item or one group of article, method 300 can return to frame 310, and being aligned correction course can
It is executed again before spraying another article or another group of article.By ensuring the thermal spraying apparatus between each article coating
Correct alignment and positioning, it is minimum that can make the error of application coating, and can improve the consistency between coated article.
Alternatively, alignment correction course disclosed herein can execute periodically or under system operators instruction.
The alignment and positioning for having the technical effect that thermal spray system component of proposed system and method, so that can
Realize the accurate and accurate application of thermal spraying material.As it will be appreciated by those skilled in the art that in thermal spray system or
The use of process monitoring equipment in connection can reduce or eliminate improperly applies material to article, thus reduces or eliminates
To reprocessing the needs of this kind of article, and improve the performance of this kind of article and/or the coating applied to it and long validity period
Limit.
Fig. 4 and following discussion are expected to provide the appropriate calculating that presently disclosed method and system and/or its part can be achieved
The brief, general description of environment.Although being not required, methods and systems disclosed herein can be by such as client work
It stands, the computer executable instructions of executable such as program module etc of computer of server or personal computer etc
General background described in.In general, program module includes executing particular task or realization particular abstract data type
Routine, program, object, component, data structure etc..In addition, it should be understood that methods and systems disclosed herein and/or its portion
Point other computer system configurations can be used to implement, including hand-held device, multicomputer system, based on microprocessor or
Programmable consumer electronics, network PC, microcomputer, mainframe computer etc..Methods and systems disclosed herein may be used also
Implement in distributed computing environment of the remote processing device by being linked through a communication network to execute task.It is counted in distribution
Calculate environment in, program module can be located locally in remote memory storage device.
Fig. 4 is indicated in combination with presently disclosed method and the aspect of system and/or the general-purpose computing system of its part
Block diagram.As indicated, demonstration general-purpose computing system includes computer 520 etc., including processing unit 521, system storage
522 and the various system components including system storage are coupled to the system bus 523 of processing unit 521.System
If bus 523 can be any of the bus structures of dry type, including use any memory of a variety of bus architectures
Bus or storage control, peripheral bus and local bus.System storage may include read-only memory (ROM) 524 and random
Access memory (RAM) 525.May include for example during startup help computer 520 in element between transmit information base
The basic input/output 526 (BIOS) of this routine is storable in ROM 524.
Computer 520 may also include：Hard disk drive 527, for hard disk drive (not shown) to be read out and write
Enter；Disc driver 528, for moveable magnetic disc 529 to be read out or is written；And CD drive 530, it can for pair
Moving CD 531, such as CD-ROM or other optical medium are read out or are written.Hard disk drive 527, disc driver 528
It can pass through hard disk drive interface 532, disk drive interface 533 and CD-ROM drive interface respectively with CD drive 530
534 are connected to system bus 523.Driver and its associated computer-readable medium provide the calculating to computing device 520
The non-volatile memories of machine readable instruction, data structure, program module and other data.
Although exemplary environment as described herein uses hard disk, moveable magnetic disc 529 and removable CD 531, should
Understand, can store and demonstration ring can also be used for by the other types of computer-readable medium of computer-accessible data
In border.This kind of other types of medium includes but not limited to cassette tape, flash memory card, digital video or general optic disc, primary
Exert sharp cassette tape（Bernoulli cartridge）, random access memory (RAM), read-only memory (ROM) etc..
Multiple program modules are storable in hard disk drive 527, disk 529, CD 531, ROM 524 and/or RAM 525
In, including operating system（OS）535, one or more application program 536, other program modules 537 and program data
538.User can will be ordered by the input unit of such as keyboard 540 and fixed-point apparatus 542 etc and information input computer
520.Other input unit (not shown) may include microphone, control stick, game paddle, satellite dish, scanner etc..This
A little and other input units are connected to processing unit 521 often through the serial port interface 546 coupled with system bus, still
It can be connected by other interfaces of such as parallel port, game port or universal serial bus (USB) etc.Monitor
547 or other types of display device can also be connected to system bus via the interface of such as video adapter 548 etc
523.Other than monitor 547, computer may also include other peripheral output devices of such as loud speaker and printer etc
(not shown).The demonstration system of Fig. 4 may also include host adapter 555, small computer system interface (SCSI) bus 556 with
And it may be connected to the external memory 562 of SCSI bus 556.
Computer 520 can use one or more remote computers, such as logical connection of remote computer 549
It is operated in network environment.Remote computer 549 can be personal computer, server, router, network PC, equity dress
It sets or other common network nodes, and may include above in regard to many or all of element described in computer 520, but
Memory storage apparatus 550 is only shown in Fig. 4.Logical connection shown in Fig. 4 may include LAN (LAN) 551 and wide area network
(WAN)552.This network environment is common in office, the computer network of enterprise-wide, Intranet and internet.
In use, computer 520 can be connected to LAN by network interface or adapter 553 in LAN network environments
551.In use, computer 520 may include modem 554 or pass through wide area network for establishing in WAN network environments
552, other components of the communication of such as internet.Can be that internal or external modem 554 can be via serial port
Interface 546 is connected to system bus 523.It, can about the program module described in computer 520 or its part in network environment
It is stored in remote memory storage device.Network connection is exemplary shown in it will be understood that, and can be used and establish meter
Other components of communication link between calculation machine.
Computer 520 may include a variety of computer readable storage mediums.Computer readable storage medium can be can be by
Computer 520 includes volatile and non-volatile media, removable and irremovable Jie any usable medium that accesses
Matter.It as example rather than limits, computer-readable medium may include computer storage media and communication media.Computer stores
Medium include in any way or technology realized for store such as computer-readable instruction, data structure, program mould
The volatile and non-volatile of the information of block or other data etc, removable and irremovable medium.Computer storage media
Including but not limited to RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc
(DVD) it or other optical disk storage apparatus, cassette tape, tape, disk storage device or other magnetic memory apparatus or can use
In any other medium that stores desired information and can be accessed by computer 520.Any of the above-described combination is also answered
When the range included in the computer-readable medium that can be used for storing the source code for realizing methods described herein and system it
It is interior.Feature disclosed herein or any combinations of element can be used in one or more embodiments.
This written description discloses the theme being contained herein using the example including optimal mode, and also makes this field
Technical staff can implement the present invention, including make and use any device or system and execute any combined method.This
Disclosed the scope of the claims is defined by the claims, and may include the other examples that those skilled in the art expects.If
This kind of other examples have an identical structural unit of word language with claim, or if they include have with
The equivalent structure unit of the unsubstantiality difference of the word language of claim, then be expected they be in the scope of the claims it
It is interior.
Claims (16)
1. a kind of thermal spray system, including：
Thermal spraying gun is configured to generate material injection；
At least one photographic means is configured to capture the image of the material injection carried out by the thermal spraying gun；
Diagnostic device is being communicatively coupled at least one photographic means；And
Controller is being communicatively coupled to the diagnostic device,
Wherein described at least one photographic means is configured to transmit described image to diagnostic device,
The wherein described diagnostic device is configured to be determined the characteristic of the material injection based on described image and be passed to controller
The characteristic is sent, and is configured to determine the seat with the association of characteristics in the coordinate system for positioning and moving thermal spraying gun
Mark,
The wherein described controller is configured to control the position of the thermal spraying gun based on the characteristic, and
The wherein described thermal spray system further includes one or more lasers, emits laser beam, is filled as by the diagnosis
Set the point for therefrom determining the coordinate system.
2. thermal spray system as described in claim 1, wherein the characteristic of the material injection includes in the material injection
Heart point, the width of material injection, the size of material injection or at least one of the shape of material injection.
3. thermal spray system as described in claim 1, wherein at least one photographic means includes being configured to described in capture
What the first photographic means and being configured to of the first image of material injection captured the second image of the material injection second shines
Phase device.
4. thermal spray system as described in claim 1, wherein be configured to control the control of the position of the thermal spraying gun
Device includes the controller for being configured to adjust the travel path of the thermal spraying gun based on the characteristic.
5. thermal spray system as described in claim 1, wherein the image of the material injection includes the image of reference point.
6. thermal spray system as claimed in claim 5, wherein the reference point is one of laser beam or fiducial mark.
7. a kind of method of operation thermal spray system, including：
Material injection to surface is generated using thermal spraying gun；
Capture the image of the material injection；
The characteristic of the material injection is determined based on described image；And
The position of the thermal spraying gun is adjusted based on the characteristic,
Wherein determine that the characteristic of the material injection is included in the coordinate system for positioning and moving thermal spraying gun determining and institute
The coordinate of association of characteristics is stated, and
Wherein the method further includes therefrom determining coordinate system as by diagnostic device in transmitting laser beam to the surface
Point.
8. the method for claim 7, wherein described image is captured by least one row scanography device.
9. the method for claim 7, wherein the characteristic of material injection include the material injection central point,
At least one of the shape of the width of the material injection, the size of material injection or material injection.
10. the method for claim 7, wherein the characteristic is the central point of the blasting materials, and based on described
Characteristic includes adjusting the thermal spraying gun come the position for adjusting the thermal spraying gun so that the central point of the material injection changes
At the predetermined center point of the injection.
11. further including the method for claim 7, being emitted to laser beam is as a reference point on the surface.
12. method as claimed in claim 11, wherein the image of the material injection includes the image of the laser beam.
13. a kind of method of operation thermal spray system, including：
Material injection to surface is generated using thermal spraying gun；
Capture the image of the material injection；
The central point of the material injection is determined based on described image；
Determine the correct central point of injection；And
The thermal spraying gun is adjusted based on the central point of material injection so that the central point of the material injection and injection
The correct center point alignment,
It wherein determines that the central point of the material injection is included in the coordinate system for positioning and moving thermal spraying gun and determines institute
The coordinate of the central point of material injection is stated, and
Wherein the method further includes in transmitting laser beam to the surface, as therefrom determining the coordinate by diagnostic device
The point of system.
14. method as claimed in claim 13 further includes that the material is ejected on article using the thermal spraying gun.
15. method as claimed in claim 13, wherein capturing the image that the material sprays includes：
The of the material injection is captured using being configured to scan the first photographic means of material injection along first direction
One image；And
The material spray is captured using being configured to scan the second row scanography device of the material injection in a second direction
The second image penetrated,
The wherein described first direction is perpendicular to the second direction.
16. method as claimed in claim 13 further includes the travel path for adjusting the thermal spraying gun.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US13/493,364 US11745201B2 (en) | 2012-06-11 | 2012-06-11 | Spray plume position feedback for robotic motion to optimize coating quality, efficiency, and repeatability |
| US13/493364 | 2012-06-11 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103480530A CN103480530A (en) | 2014-01-01 |
| CN103480530B true CN103480530B (en) | 2018-09-28 |
Family
ID=48576873
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310231795.2A Active CN103480530B (en) | 2012-06-11 | 2013-06-13 | Optimize the spray plume position feedback of the robot motion of coating |
Country Status (5)
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|---|---|
| US (1) | US11745201B2 (en) |
| EP (1) | EP2674225B1 (en) |
| JP (1) | JP6334095B2 (en) |
| CN (1) | CN103480530B (en) |
| HU (1) | HUE039917T2 (en) |
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| US11745201B2 (en) | 2012-06-11 | 2023-09-05 | General Electric Company | Spray plume position feedback for robotic motion to optimize coating quality, efficiency, and repeatability |
| FR3020768B1 (en) * | 2014-05-12 | 2016-05-27 | Peugeot Citroen Automobiles Sa | REAL-TIME VISUALIZATION COATING METHOD |
| CN103990571B (en) * | 2014-05-22 | 2017-01-04 | 北京铭隆世纪科技有限公司 | The implementation method of auto spray painting and device |
| CN104759379B (en) * | 2015-04-15 | 2017-05-03 | 重庆大学 | Intelligent full-process closed-loop spray painting robot based on spray painting target three-dimensional imaging technology |
| CN108348940B (en) * | 2015-11-04 | 2021-08-03 | 诺信公司 | Method and system for controlling fluid pattern of dispensed fluid |
| DE102016104134A1 (en) * | 2015-11-10 | 2017-05-11 | Polyplan-GmbH Polyurethan-Maschinen | Method and arrangement for applying liquid or pasty substances |
| US10562054B2 (en) * | 2016-03-11 | 2020-02-18 | Precision Valve & Automation, Inc. | Automatically controlling a liquid spray pattern |
| US20170361380A1 (en) | 2016-06-17 | 2017-12-21 | Baker Hughes Incorporated | Tail stock for a long vertically suspended workpiece that will experience heat expansion |
| DE102017203192A1 (en) * | 2017-02-28 | 2018-08-30 | Siemens Aktiengesellschaft | Method for aerosol deposition and device |
| CN109513557A (en) * | 2018-12-27 | 2019-03-26 | 海安科大机器人科技有限公司 | A kind of robot autonomous spraying method of ship segment spray painting of view-based access control model guidance |
| JP7170974B2 (en) * | 2019-11-18 | 2022-11-15 | 株式会社サタケ | thermal spraying equipment |
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Also Published As
| Publication number | Publication date |
|---|---|
| JP6334095B2 (en) | 2018-05-30 |
| US20130330466A1 (en) | 2013-12-12 |
| US11745201B2 (en) | 2023-09-05 |
| CN103480530A (en) | 2014-01-01 |
| EP2674225A2 (en) | 2013-12-18 |
| EP2674225A3 (en) | 2017-04-05 |
| JP2013256715A (en) | 2013-12-26 |
| EP2674225B1 (en) | 2018-05-23 |
| HUE039917T2 (en) | 2019-02-28 |
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